Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper, we proposed a walking pattern generation method of a four-legged robot using four-coupled van der Pol (VDP) equations. We use a VDP equation as a nonlinear oscillator to generate a walking pattern of the robot. The walking pattern is generated by using the periodic solution of VDP equations. Our method can generate walking patterns of trot walking and stepping by properly specifying the phase between each VDP equation, can control forward and turning motions by changing a phase difference of periodic solutions. We show experimentally that forward, turning and translation movement by trot gait can be realized.
